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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="namespacecollision_1_1raytrace.html">raytrace</a></li>  </ul>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x.html">EndsLineSegmentSort_X</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe.html">EndsLineSegmentSort_X_goe</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y.html">EndsLineSegmentSort_Y</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe.html">EndsLineSegmentSort_Y_goe</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html">StartsLineSegmentSort_X</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">StartsLineSegmentSort_X_goe</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y.html">StartsLineSegmentSort_Y</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe.html">StartsLineSegmentSort_Y_goe</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">Vector2dSort_X</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html">Vector2dSort_Y</a></td></tr>
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Functions</h2></td></tr>
<tr class="memitem:aa5d0e3bbe5db32786c5562a886ddba67"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">RaytraceDebugOutput</a> (const char *)</td></tr>
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<tr class="memitem:a8f655b21b0063c7b37865a4a89e358f0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a8f655b21b0063c7b37865a4a89e358f0">RaiseRaytraceError</a> (const char *)</td></tr>
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<tr class="memitem:a025bf0f171abcc1cf7bbee6c4a41bba3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a025bf0f171abcc1cf7bbee6c4a41bba3">onSegment</a> (<a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> r)</td></tr>
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<tr class="memitem:a6131dea50f0b53336b6f535167ad90ab"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a6131dea50f0b53336b6f535167ad90ab">orientation</a> (<a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> r)</td></tr>
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<tr class="memitem:a60df465f132c196bdb339595739e7229"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a60df465f132c196bdb339595739e7229">det</a> (double a, double b, double c, double d)</td></tr>
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<tr class="memitem:a8f02f6781a2c5c86af568cc136f999f0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a8f02f6781a2c5c86af568cc136f999f0">lineLineIntersect</a> (double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4, double &amp;ixOut, double &amp;iyOut)</td></tr>
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<tr class="memitem:ad60325650aba6f3ce8fd4eb92cad44c1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#ad60325650aba6f3ce8fd4eb92cad44c1">findLineCircleIntersections</a> (double cx, double cy, double radius, const Eigen::Vector2d &amp;p1, const Eigen::Vector2d &amp;p2, std::vector&lt; Eigen::Vector2d &gt; &amp;inters)</td></tr>
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<tr class="memitem:a9b179e024ada71f8f3197d7a514bcb82"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a9b179e024ada71f8f3197d7a514bcb82">doIntersect</a> (<a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p1, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q1, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> p2, <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> q2, std::vector&lt; <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> &gt; &amp;inters)</td></tr>
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<tr class="memitem:a7cb335e7c302c0f66577263e9cfa9d93"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a7cb335e7c302c0f66577263e9cfa9d93">rayTracePrimitive</a> (std::vector&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a> &gt; collision_objects, const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect, bool remove_overlaps)</td></tr>
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<tr class="separator:ad094906ddcf62d4d1dde8ef64fc5f938"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a83f74b36376cf77bbea1b02498f459"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">rayTraceRemoveOverlaps</a> (std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; intersect, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;out_vec, int axis=0)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a4d373e94f0ca792540629f46a4c4e7d9"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">collision::raytrace::Vector2dSort_X</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a4d373e94f0ca792540629f46a4c4e7d9">vector2dSortX</a></td></tr>
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<tr class="memitem:aa19b3e230e27746f18ac737e5ec0f8d6"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html">collision::raytrace::StartsLineSegmentSort_X</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#aa19b3e230e27746f18ac737e5ec0f8d6">startsSortX</a></td></tr>
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<tr class="memitem:a34b1c38a7506b51df9c61ceb7c5cf80e"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">collision::raytrace::StartsLineSegmentSort_X_goe</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a34b1c38a7506b51df9c61ceb7c5cf80e">startsSortXgoe</a></td></tr>
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<tr class="memitem:acf7e015d81b76df799d5973163832ff8"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe.html">collision::raytrace::StartsLineSegmentSort_Y_goe</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#acf7e015d81b76df799d5973163832ff8">startsSortY_goe</a></td></tr>
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<tr class="memitem:a2c09ac0434b5fa95c1119dcbbd9e7934"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x.html">collision::raytrace::EndsLineSegmentSort_X</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a2c09ac0434b5fa95c1119dcbbd9e7934">endsSortX</a></td></tr>
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<tr class="memitem:a34036aa060cabf54bffae81c59f00f8d"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y.html">collision::raytrace::EndsLineSegmentSort_Y</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecollision_1_1raytrace.html#a34036aa060cabf54bffae81c59f00f8d">endsSortY</a></td></tr>
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<h2 class="groupheader">Function Documentation</h2>
<a id="a60df465f132c196bdb339595739e7229"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a60df465f132c196bdb339595739e7229">&#9670;&nbsp;</a></span>det()</h2>

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          <td class="memname">double collision::raytrace::det </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>b</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>c</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double&#160;</td>
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          <td>)</td>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00097">97</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9b179e024ada71f8f3197d7a514bcb82">&#9670;&nbsp;</a></span>doIntersect()</h2>

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          <td class="memname">bool collision::raytrace::doIntersect </td>
          <td>(</td>
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          <td class="paramname"><em>p1</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>q1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>p2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>q2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>inters</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00137">137</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad60325650aba6f3ce8fd4eb92cad44c1">&#9670;&nbsp;</a></span>findLineCircleIntersections()</h2>

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          <td class="memname">int collision::raytrace::findLineCircleIntersections </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>p1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>p2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector2d &gt; &amp;&#160;</td>
          <td class="paramname"><em>inters</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00025">25</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8f02f6781a2c5c86af568cc136f999f0">&#9670;&nbsp;</a></span>lineLineIntersect()</h2>

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          <td class="memname">bool collision::raytrace::lineLineIntersect </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y3</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>x4</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>y4</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>ixOut</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>iyOut</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00101">101</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a025bf0f171abcc1cf7bbee6c4a41bba3">&#9670;&nbsp;</a></span>onSegment()</h2>

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          <td class="memname">bool collision::raytrace::onSegment </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>r</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00073">73</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6131dea50f0b53336b6f535167ad90ab">&#9670;&nbsp;</a></span>orientation()</h2>

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          <td class="memname">int collision::raytrace::orientation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structcollision_1_1raytrace_1_1_point.html">Point</a>&#160;</td>
          <td class="paramname"><em>r</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00086">86</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8f655b21b0063c7b37865a4a89e358f0">&#9670;&nbsp;</a></span>RaiseRaytraceError()</h2>

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          <td class="memname">void collision::raytrace::RaiseRaytraceError </td>
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          <td class="paramname"><em>message</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00065">65</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa5d0e3bbe5db32786c5562a886ddba67">&#9670;&nbsp;</a></span>RaytraceDebugOutput()</h2>

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          <td class="memname">void collision::raytrace::RaytraceDebugOutput </td>
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          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>message</em></td><td>)</td>
          <td></td>
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<p class="definition">Definition at line <a class="el" href="raytrace__primitive_8cc_source.html#l00059">59</a> of file <a class="el" href="raytrace__primitive_8cc_source.html">raytrace_primitive.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad094906ddcf62d4d1dde8ef64fc5f938">&#9670;&nbsp;</a></span>rayTracePostprocess()</h2>

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          <td class="memname">bool collision::raytrace::rayTracePostprocess </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector2d &gt;&#160;</td>
          <td class="paramname"><em>inters1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>intersect</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a> *&#160;</td>
          <td class="paramname"><em>obj</em>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__utils_8cc_source.html#l00112">112</a> of file <a class="el" href="raytrace__utils_8cc_source.html">raytrace_utils.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7cb335e7c302c0f66577263e9cfa9d93">&#9670;&nbsp;</a></span>rayTracePrimitive()</h2>

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          <td class="memname">bool collision::raytrace::rayTracePrimitive </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a> &gt;&#160;</td>
          <td class="paramname"><em>collision_objects</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>point2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>intersect</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>remove_overlaps</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p class="definition">Definition at line <a class="el" href="raytrace__utils_8cc_source.html#l00080">80</a> of file <a class="el" href="raytrace__utils_8cc_source.html">raytrace_utils.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9a83f74b36376cf77bbea1b02498f459">&#9670;&nbsp;</a></span>rayTraceRemoveOverlaps()</h2>

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          <td class="memname">int collision::raytrace::rayTraceRemoveOverlaps </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt;&#160;</td>
          <td class="paramname"><em>intersect</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>out_vec</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>axis</em> = <code>0</code>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p class="definition">Definition at line <a class="el" href="raytrace__utils_8cc_source.html#l00204">204</a> of file <a class="el" href="raytrace__utils_8cc_source.html">raytrace_utils.cc</a>.</p>

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<h2 class="groupheader">Variable Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c09ac0434b5fa95c1119dcbbd9e7934">&#9670;&nbsp;</a></span>endsSortX</h2>

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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x.html">collision::raytrace::EndsLineSegmentSort_X</a>  collision::raytrace::endsSortX</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe.html">collision::raytrace::EndsLineSegmentSort_X_goe</a>  collision::raytrace::endsSortX_goe</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y.html">collision::raytrace::EndsLineSegmentSort_Y</a>  collision::raytrace::endsSortY</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe.html">collision::raytrace::EndsLineSegmentSort_Y_goe</a>  collision::raytrace::endsSortY_goe</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html">collision::raytrace::StartsLineSegmentSort_X</a>  collision::raytrace::startsSortX</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">collision::raytrace::StartsLineSegmentSort_X_goe</a>  collision::raytrace::startsSortXgoe</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y.html">collision::raytrace::StartsLineSegmentSort_Y</a>  collision::raytrace::startsSortY</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe.html">collision::raytrace::StartsLineSegmentSort_Y_goe</a>  collision::raytrace::startsSortY_goe</td>
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          <td class="memname">struct <a class="el" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">collision::raytrace::Vector2dSort_X</a>  collision::raytrace::vector2dSortX</td>
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